Seperation

Hi everyone,
Without going into a lot of detail I have decided to seperate from my husband. I have thought long and hard about this and know it's the only option left, I'm just having problems with how to do it.
We have kids so care arrangements will need to be organised, I work full time and believe father's should have equal rights so am open to 50/50 care responsibilities.
The house. I brought the house with out any contribution from my husband and have received legal advice that at most I would have to pay him a small amount (10%) but I am having problems asking him to leave, he has nowhere else to go and doesn't work, he only gets jobseeker payment which is not enough for rent.
There's dv... It's not physical, it's emotional, controlling and verbal, police have been involved and I have been put in contact with dv counsellors who have told me they think I'm at high risk when I tell him it's over, they think he will snap and seriously hurt me so I need a safety plan to leave, I'm getting help with that but the thought of it getting this bad I need a safety plan, it hurts and it's scary.

How do I do this? This is stupid but I feel guilty, guilty for asking him to leave, guilty for the kids that they won't get to see us both everyday anymore and their lives will be so different, I know not seeing what they already have will be better but I still can't shake that guilty feeling. I'm scared to be alone, I don't have any family or support here. I feel like a failure and like I can't do life by myself.
I don't know if there is a question in all that or if I'm just venting or what, I don't know much of anything anymore, my mind is just so completely confused right now.